AT509103B1 - Verfahren zur stützung der messgenauigkeit von gps/imu-systemen - Google Patents
Verfahren zur stützung der messgenauigkeit von gps/imu-systemen Download PDFInfo
- Publication number
- AT509103B1 AT509103B1 AT0181009A AT18102009A AT509103B1 AT 509103 B1 AT509103 B1 AT 509103B1 AT 0181009 A AT0181009 A AT 0181009A AT 18102009 A AT18102009 A AT 18102009A AT 509103 B1 AT509103 B1 AT 509103B1
- Authority
- AT
- Austria
- Prior art keywords
- positions
- imu
- gnss
- images
- trajectory
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 19
- 238000005259 measurement Methods 0.000 claims description 32
- 238000012937 correction Methods 0.000 claims description 7
- 238000011156 evaluation Methods 0.000 claims description 3
- 238000012805 post-processing Methods 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 238000001914 filtration Methods 0.000 claims 1
- 238000012986 modification Methods 0.000 claims 1
- 230000004048 modification Effects 0.000 claims 1
- 230000003319 supportive effect Effects 0.000 claims 1
- 238000001514 detection method Methods 0.000 description 5
- 230000001133 acceleration Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000013598 vector Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/03—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by measuring coordinates of points
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/51—Relative positioning
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/53—Determining attitude
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AT0181009A AT509103B1 (de) | 2009-11-16 | 2009-11-16 | Verfahren zur stützung der messgenauigkeit von gps/imu-systemen |
| EP10450162A EP2322901A3 (fr) | 2009-11-16 | 2010-10-22 | Procédé d'amélioration de données de mesure de position et d'orientation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AT0181009A AT509103B1 (de) | 2009-11-16 | 2009-11-16 | Verfahren zur stützung der messgenauigkeit von gps/imu-systemen |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| AT509103A1 AT509103A1 (de) | 2011-06-15 |
| AT509103B1 true AT509103B1 (de) | 2012-01-15 |
Family
ID=43626933
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AT0181009A AT509103B1 (de) | 2009-11-16 | 2009-11-16 | Verfahren zur stützung der messgenauigkeit von gps/imu-systemen |
Country Status (2)
| Country | Link |
|---|---|
| EP (1) | EP2322901A3 (fr) |
| AT (1) | AT509103B1 (fr) |
Families Citing this family (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9482755B2 (en) | 2008-11-17 | 2016-11-01 | Faro Technologies, Inc. | Measurement system having air temperature compensation between a target and a laser tracker |
| US9772394B2 (en) | 2010-04-21 | 2017-09-26 | Faro Technologies, Inc. | Method and apparatus for following an operator and locking onto a retroreflector with a laser tracker |
| US9400170B2 (en) | 2010-04-21 | 2016-07-26 | Faro Technologies, Inc. | Automatic measurement of dimensional data within an acceptance region by a laser tracker |
| US9377885B2 (en) | 2010-04-21 | 2016-06-28 | Faro Technologies, Inc. | Method and apparatus for locking onto a retroreflector with a laser tracker |
| DE112012001082B4 (de) | 2011-03-03 | 2015-12-03 | Faro Technologies Inc. | Verfahren zum Messen von Zielen |
| US9686532B2 (en) | 2011-04-15 | 2017-06-20 | Faro Technologies, Inc. | System and method of acquiring three-dimensional coordinates using multiple coordinate measurement devices |
| US9482529B2 (en) | 2011-04-15 | 2016-11-01 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
| GB2504890A (en) | 2011-04-15 | 2014-02-12 | Faro Tech Inc | Enhanced position detector in laser tracker |
| WO2013112455A1 (fr) | 2012-01-27 | 2013-08-01 | Faro Technologies, Inc. | Procédé d'inspection par identification de code à barres |
| DE102013102286A1 (de) * | 2012-07-03 | 2014-01-09 | Zoller & Fröhlich GmbH | Verfahren und Vorrichtung zum Auswerten von Laserscans |
| CN103577670B (zh) * | 2012-07-26 | 2016-10-26 | 上海工程技术大学 | 一种轨道建筑空间3d点云数据转换方法 |
| US9188430B2 (en) | 2013-03-14 | 2015-11-17 | Faro Technologies, Inc. | Compensation of a structured light scanner that is tracked in six degrees-of-freedom |
| US9041914B2 (en) | 2013-03-15 | 2015-05-26 | Faro Technologies, Inc. | Three-dimensional coordinate scanner and method of operation |
| CN103308026A (zh) * | 2013-06-28 | 2013-09-18 | 上海斐讯数据通信技术有限公司 | 移动终端测量房屋面积的方法 |
| DE102013110581B4 (de) | 2013-09-24 | 2018-10-11 | Faro Technologies, Inc. | Verfahren zum optischen Abtasten und Vermessen einer Umgebung und Vorrichtung hierzu |
| CN104154861A (zh) * | 2014-03-10 | 2014-11-19 | 上海大学 | 大型堆积物料体积绕行测量装置和方法 |
| US9395174B2 (en) | 2014-06-27 | 2016-07-19 | Faro Technologies, Inc. | Determining retroreflector orientation by optimizing spatial fit |
| DE102016002704A1 (de) | 2016-03-08 | 2017-09-14 | Audi Ag | Steuervorrichtung und Verfahren zum Ermitteln einer Eigenposition eines Kraftfahrzeugs |
| CA3130198C (fr) | 2019-05-16 | 2022-05-17 | Darel Mesher | Systeme et procede de generation et d'interpretation de nuages de points d'un couloir ferroviaire le long d'un trajet d'etude |
| CN110579169A (zh) * | 2019-07-30 | 2019-12-17 | 广州南方卫星导航仪器有限公司 | 基于云计算的立体视觉高精度测量方法和存储介质 |
| CN111661111A (zh) * | 2020-06-03 | 2020-09-15 | 深圳市视晶无线技术有限公司 | 轨道交通障碍探测方法及装置 |
| CN112697138B (zh) * | 2020-12-07 | 2022-09-27 | 北方工业大学 | 一种基于因子图优化的仿生偏振同步定位与构图的方法 |
| CN113280790B (zh) * | 2021-05-07 | 2023-08-15 | 王亚超 | 一种基于激光定位的建筑测绘装置 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102004028736A1 (de) * | 2004-06-14 | 2006-03-23 | Tele-Info Ag | Verfahren zur automatischen Erfassung und Bestimmung von ortsfesten Objekten im Freien von einem fahrenden Fahrzeug aus |
-
2009
- 2009-11-16 AT AT0181009A patent/AT509103B1/de active
-
2010
- 2010-10-22 EP EP10450162A patent/EP2322901A3/fr not_active Withdrawn
Non-Patent Citations (3)
| Title |
|---|
| Barber, D. et al. Geometric validation of a ground-based mobile laser scanning system.ISPRS JOURNAL OF PHOTOGRAMMETRY AND REMOTE SENSING 63 (2008), Seiten 128-141 * |
| RESSL, C. et al. Investigating Adjustment of Airborne Laser Scanning Strips Without Usage of GNSS/IMU Trajectory Data. Laser scanning 2009, IAPRS, Vol. XXXVIII, Part 3/W8, Sept. 2009, Seiten 195-200. Http://publik.tuwien.ac.at/files/PubDat_177259.pdf * |
| VADLAMANI, A.K. et al. Dual Airborne Laser Scanners Aided Inertial for Improved Autonomous Navigation. IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS, Vol. 45, Nr. 4, Oct. 2009, Seiten 1483-1498 * |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2322901A3 (fr) | 2012-01-11 |
| EP2322901A2 (fr) | 2011-05-18 |
| AT509103A1 (de) | 2011-06-15 |
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